A game of drones

Game theoretic approaches for multi-robot task allocation in security missions

Book chapter (2018)

Authors

Kala Garapati Universidad Politécnica de Madrid
Juan Jesús Roldán Universidad Politécnica de Madrid
M.A. Garzon Oviedo Universidad Politécnica de Madrid
Jaime del Cerro Universidad Politécnica de Madrid
Antonio Barrientos Universidad Politécnica de Madrid
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Published Date

2018

Language

English

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Abstract

This work explores the potential of game theory to solve the task allocation problem in multi-robot missions. The problem considers a swarm with dozens of drones that only know their neighbors, as well as a mission that consists of visiting a series of locations and performing certain activities. Two algorithms have been developed and validated in simulation: one competitive and another cooperative. The first one searches the best Nash equilibrium for each conflict where multiple UAVs compete for multiple tasks. The second one establishes a voting system to translate the individual preferences into a task allocation with social welfare. The results of the simulations show both algorithms work under the limitation of communications and the partial information, but the competitive algorithm generates better allocations than the cooperative one.